CN110855213B - Compensation method for high-speed pulse output interference of programmable logic controller - Google Patents
Compensation method for high-speed pulse output interference of programmable logic controller Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
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Abstract
The invention relates to a compensation method for high-speed pulse output interference of a programmable logic controller, which is based on a trapezoidal acceleration and deceleration algorithm and divides the acceleration and deceleration process by unit time according to a time slice division method, wherein the pulse frequency is increased or decreased progressively in each time slice. Meanwhile, the actual operation angle of the motor is sampled through the time slice, and the effect of accurate positioning is achieved through a compensation algorithm. Therefore, the motion control positioning of the small PLC in a severe interference environment is still accurate, and the market competitiveness is greatly enhanced. The PLC motion control instruction can be applied to occasions needing positioning motion, such as small-sized machining, packaging, laser water jet cutting, automatic welding and the like, and has good social and economic benefits.
Description
Technical Field
The invention relates to a pulse output interference compensation method of a programmable logic controller, in particular to a pulse output interference compensation method of a programmable logic controller with functions of motion control high-speed pulse output and a high-speed counter.
Background
The motion control functions of a Programmable Logic Controller (PLC) include high speed pulse output and high speed counter functions. The high-speed pulse output function is to drive a servo motor or a stepping motor by sending a series of high-frequency pulses, and finally achieve the purpose of mechanical position positioning. The high-speed counter counts the high-frequency pulses of an encoder arranged on the motor, so that the rotating position of the motor is known.
The high-speed pulse output of the PLC one-time positioning instruction comprises three processes of acceleration, uniform speed and deceleration. This is generally achieved by trapezoidal acceleration and deceleration or S-shaped acceleration and deceleration. After receiving the pulse signal sent by the PLC, the motor starts to correspondingly perform acceleration, uniform speed and deceleration operation. One pulse output by the PLC corresponds to a tiny angle rotation of the motor. Existing instructions are open-loop, as shown in FIG. 1. In general, servo motor drivers can receive pulse frequencies up to around 1 MHz. Certain filtering measures are arranged in the servo motor driver, and certain field electromagnetic interference can be resisted. However, when the interference is strong and the servo driver cannot filter the interference, a larger number of pulses or a smaller number of pulses than the number of pulses actually transmitted by the PLC may be received, which may cause inaccurate positioning of the system.
An invention patent 'control method and system for driving a stepping motor', with application number 201710755393.0, provides a control method and system for driving a stepping motor, and the control method comprises the following steps: A. controlling the stepping motor to rotate and be in an accelerating state, and counting the real-time step number of the accelerating rotation of the stepping motor; B. judging whether the sum of the real-time step number and a fixed step number of the stepping motor in the idle state for decelerating and rotating exceeds a preset step number, if so, executing the step E, otherwise, executing the step C; C. when the rotating speed of the stepping motor reaches a preset rotating speed, controlling the stepping motor to rotate at a constant speed at the preset rotating speed; D. counting the superposed steps of the accelerated rotation and the uniform rotation of the stepping motor so as to enable the superposed steps to be added with the fixed steps to reach the preset steps; E. and controlling the stepping motor to decelerate and stopping the stepping motor after the fixed number of steps. Therefore, the effects of controlling the rotating speed of the stepping motor in real time and rotating according to the preset steps are achieved, the phenomenon of step loss is avoided, and the real-time performance is high.
The invention patent 201610973963.9, entitled "step-out compensation method and device for stepping motor", discloses a step-out compensation method for stepping motor, which is used for controlling an ultrasonic probe, wherein the ultrasonic probe comprises an energy converter and a stepping motor, and comprises the following steps: acquiring actual position information of the transducer; comparing the actual position information with the target position information to obtain step-out data of the stepping motor; comparing the out-of-step data with a preset threshold value, and determining the threshold value range to which the out-of-step data belongs; determining a compensation mode corresponding to the out-of-step data according to the threshold range, and executing compensation operation corresponding to the compensation mode; according to the method, according to the step-out condition of the stepping motor, the compensation mode corresponding to the step-out condition is adopted for self-adaptive compensation, so that the accumulated error of the relative position of the transducer is prevented, and the image obtained by scanning the ultrasonic probe is more accurate without drift.
The invention patent 'a method for generating symmetrical trapezoid acceleration and deceleration pulses' with application number 201310661637.0 proposes a method for generating symmetrical trapezoid acceleration and deceleration pulses, firstly initializing data to calculate the initial speed of the trapezoid acceleration and deceleration zero moment and the pulse number in the acceleration process or the deceleration process, secondly obtaining the frequency of each pulse in the uniform acceleration process and the uniform deceleration process, wherein the pulse frequency value calculated when the uniform acceleration process is terminated is used as the pulse frequency value of the uniform deceleration process. Therefore, the pulse with completely symmetrical acceleration and deceleration can be obtained by controlling each pulse in the running process of the motor in real time.
Disclosure of Invention
The purpose of the invention is: a method for compensating interference with high-speed pulse output is provided, which compensates more or less received pulses of a motor caused by electromagnetic interference in real time through feedback of a high-speed counter. Therefore, the problem of inaccurate positioning of motion control in an electromagnetic interference environment is solved.
In order to achieve the aim, the technical scheme of the invention is to provide a method for compensating the high-speed pulse output interference of a programmable logic controller, a PLC gives a high-speed pulse output instruction to a motor, an encoder of the motor or an encoder externally connected with the motor is connected to a high-speed counter of the PLC, the motor adopts a trapezoidal acceleration and deceleration mode, and the motor starts from the base speed and is accelerated for a set acceleration time T acc Accelerating to the set pulse output highest frequency to do uniform motion, and finally performing deceleration for the set deceleration time T dec The speed is reduced to the base speed and stopped, and the base speed frequency of the motor is F bias The compensation method is characterized by comprising the following steps:
step 1, setting timeSheet T n When the motor is accelerated and decelerated, every T n Time, producing a step change in speed;
step 2, calculating to obtain the number N of segments of the motor acceleration section acc And number N of stages of the deceleration section dec ，N acc ＝T acc /T n ，N dec ＝T dec /T n ；
Step 3, calculating to obtain the nth of the PLC in the acceleration section acc Number of pulses N sent to the motor in segments accn ，N accn ＝(F bias +N accinc *(n acc -1))*(T n /1000), in which n acc ＝1,2,…,N acc ；N accinc Representing the number of frequency increments per segment of the acceleration segment, N accinc ＝(F max -F bias )/(T acc /T n )；
The nth of the PLC in the deceleration section is obtained through calculation dec Number of pulses N sent to the motor in segments decn ，N decn ＝(F bias +N decinc *(N dec -n dec ))*(T n /1000), in which n dec ＝1,2,…,N dec ；N decinc Representing the number of frequency increments per section of the deceleration section, N decinc ＝(F max -F bias )/(T dec /T n )；
Calculating to obtain each time slice T of the PLC at the uniform speed section n The number of pulses sent is: f max *(T n /1000)；
Step 4, time slice T set according to step 1 n Every T by the high-speed counter pair of the PLC n Counting the rotation angle of the motor to obtain each time slice T n The fed back pulse number is used for calculating the current time slice T n Number of interference pulses N nif ＝N nhsc –N n ，N nhsc For the current time slice T n The number of the fed back pulses is determined if the current time slice T n In the acceleration section, then N n＝ N accinc If the current time slice T n In the deceleration section, then N n＝ N decinc If the current time slice T n At the uniform velocity stage, then N n＝ F max *(T n /1000)；
Step 5, if N nif >0, then in the next time slice T n+1 Reducing the number of pulses sent by the PLC obtained by calculation in the step 3 by N nif A plurality of; if N is present nif <0, then in the next time slice T n+1 Increasing the number of pulses sent by the PLC obtained by the calculation in the step 3 by N nif And (4) respectively.
Preferably, the total number of pulses of the route output by the PLC to the motor is N, then:
the total number of pulses of the acceleration section is N acc ，
The total number of pulses of the deceleration section is N dec ，
The total number of uniform velocity segments is N v ，N v ＝N-N acc -N dec 。
The invention is based on the algorithm of trapezoidal acceleration and deceleration, and carries out unit time division on the acceleration and deceleration process according to a time slice division method, and the pulse frequency is increased or decreased progressively in each time slice. Meanwhile, the actual operation angle of the motor is sampled through the time slice, and the effect of accurate positioning is achieved through a compensation algorithm. Therefore, the motion control positioning of the small PLC in a severe interference environment is still accurate, and the market competitiveness is greatly enhanced.
The invention can avoid the condition of inaccurate positioning of motion control caused by electromagnetic interference in a part of harsh environment of an industrial field or an occasional sudden interference environment. By adding a feedback algorithm, the reliability of the motion control type PLC is greatly improved, and the application range of the PLC is expanded.
The PLC motion control instruction can be applied to occasions needing positioning motion, such as small-sized machining, packaging, laser water jet cutting, automatic welding and the like, and has good social and economic benefits.
Drawings
FIG. 1 is a schematic diagram of an open loop system;
FIG. 2 is a schematic diagram of a closed loop system stepper motor application;
FIG. 3 is a schematic diagram of a closed loop system servo motor application;
fig. 4 is a schematic view of trapezoidal acceleration and deceleration.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The invention provides a method for compensating instructions, which monitors the rotation of a motor in real time through a high-speed counter and obtains the actual rotation position of the motor through calculation. When external electromagnetic interference occurs, the PLC performs compensation by supplementing or reducing subsequently sent pulses, so that the aim of accurately controlling the position is fulfilled.
The invention relates to a PLC with interference compensation function for outputting high-speed pulse instructions. The command has an interface for encoder input, and transmits the pulse feedback signal to a high-speed counter inside the PLC. If a stepper motor is used in the system, an encoder (as shown in FIG. 2) may need to be attached to the motor side. If the servo motor is provided with the encoder, the servo motor is only required to be connected with a high-speed counter of the PLC (as shown in figure 3) through a wire of the encoder of the servo motor.
The supplement method provided by the invention is based on trapezoidal acceleration and deceleration calculation:
trapezoidal acceleration and deceleration (as shown in fig. 4) starts from the base speed, accelerates to the set pulse output highest frequency for uniform motion within the set acceleration time, and finally decelerates to the base speed within the set deceleration time and stops. The parameters of the total pulse number, the highest frequency, the substrate speed and the acceleration and deceleration time in the whole process are set by a user, and the PLC needs to plan the distance before working.
The parameters used in the present invention are now explained as follows:
total pulse number per path: and N is added.
Acceleration time: t is acc The unit ms (milliseconds).
Deceleration time: t is dec Unit ms (milliseconds).
Substrate velocity frequency: f bias In Hz. The base speed means that the motor can start the take-off movement directly with a certain small frequency. The substrate speed may also be 0, i.e. accelerated from the speed frequency 0.
Pulse output maximum frequency: f max In Hz.
Acceleration and deceleration frequency step time slice: t is n Unit ms (milliseconds). At the time of acceleration and deceleration, every T n Time, a step change in speed is produced.
Motor delay time: Δ T, in ms (milliseconds). And the stepping motor or the servo motor receives the PLC pulse and then starts to rotate by a small time delay.
The invention provides a method for compensating high-speed pulse output interference of a programmable logic controller, which specifically comprises the following steps:
step 1, setting a time slice T n ；
Step 2, calculating to obtain the number N of segments of the motor acceleration section acc And number of stages N of deceleration section dec ，N acc ＝T acc /T n ，N dec ＝T dec /T n ；
And 3, calculating the number of pulses sent to the motor by the PLC at each acceleration section:
n th acc Number of pulses N sent to the motor in segments accn ，N accn ＝(F bias +N accinc *(n acc -1))*(T n /1000), in which n acc ＝1,2,…,N acc ；N accinc Representing the number of frequency increments per segment of the acceleration segment, N accinc ＝(F max -F bias )/(T acc /T n ) Then, there are:
accelerating the number of first-stage frequency pulses: n is a radical of acc1 ＝F bias *(T n /1000)
Accelerating the number of second-stage frequency pulses: n is a radical of acc2 ＝(F bias +N accinc *(2-1))*(T n /1000)
Accelerating the number of third-stage frequency pulses: n is a radical of acc3 ＝(F bias +N accinc *(3-1))*(T n /1000)
……
Accelerate the Nth acc Number of segment frequency pulses: n is a radical of hydrogen accN ＝(F bias +N accinc *(N acc -1))*(T n /1000)
Total number of pulses in acceleration section:
calculating to obtain the number of pulses sent to the motor by the PLC at each section of the deceleration section:
n th dec Number of pulses N sent to the motor in segments decn ，N decn ＝(F bias +N decinc *(N dec -n dec ))*(T n /1000), in which n dec ＝1,2,…,N dec ；N decinc Representing the number of frequency increments per section of the deceleration section, N decinc ＝(F max -F bias )/(T dec /T n ) Then, there are:
number of first-stage deceleration frequency pulses: n is a radical of hydrogen dec1 ＝(F bias +N decinc *(N dec -1))*(T n /1000)
The number of the second section of the deceleration frequency pulses is: n is a radical of dec2 ＝(F bias +N decinc *(N dec -2))*(T n /1000)
The number of the third section of frequency pulses is reduced: n is a radical of dec3 ＝(F bias +N decinc *(N dec -3))*(T n /1000)
……
Speed reduction Nth dec Number of segment frequency pulses: n is a radical of decN ＝(F bias +N decinc *(N dec -N dec ))*(T n /1000)
Total number of pulses in the deceleration section:
in order to feed back the pulse counting number of the high-speed counter according to time slice sampling, the constant-speed section is required to be also subjected to T n Time slice segmentation, calculating to obtain each time slice T of the PLC in the uniform speed section n The number of pulses sent is: f max *(T n /1000)；
The total number of uniform velocity segments is: n is a radical of v ＝N-N acc -N dec 。
By the calculation method, the pulse frequency and the pulse number output by each time slice Tn in the whole process of trapezoidal acceleration and deceleration are obtained. And meanwhile, counting the rotation angle of the motor of each time slice Tn through a high-speed counter of the PLC, and comparing the fed-back pulse number with the pulse number sent by the PLC. When no interference or small interference can be removed by servo filtering, the pulse number fed back by the high-speed counter in the same time slice Tn is equal to the pulse number sent by the PLC, and the compensation algorithm does not need to perform any intervention. When a large disturbance occurs, the number of pulses read by the high-speed counter is increased or decreased compared with the number of pulses sent in one time slice. At this time, the compensation of the PLC is started, the number of the sent pulses is reduced or increased in the next time slice period, and the number of the sent pulses of the PLC is always kept consistent with the corresponding rotation angle of the servo.
The specific calculation is as follows:
step 4, time slice T set according to step 1 n Every T by the high-speed counter pair of the PLC n The rotation angle of the motor is counted, and a small delay delta T is formed between the time when the stepping motor or the servo motor receives the PLC pulse and the time when the motor starts to rotate. The PLC starts to sample the value of the high-speed counter after the time delay of the delta T after sending the pulse to obtain the T of each time slice n The number of pulses fed back. Calculating the current time slice T n Number of interference pulses N nif ＝N nhsc –N n ，N nhsc For the current time slice T n The number of the fed back pulses is determined if the current time slice T n In the acceleration section, then N n＝ N accinc If the current time slice T n In the deceleration section, then N n＝ N decinc If the current time slice T n At the uniform velocity stage, then N n＝ F max *(T n /1000)；
Step 5, if N nif >0, then in the next time slice T n+1 Reducing the number of pulses sent by the PLC obtained by the calculation in the step 3 by N nif A plurality of; if N is present nif <0, then in the next time slice T n+1 Increasing the number of pulses sent by the PLC obtained by the calculation in the step 3 by N nif And (4) respectively.
The total number of pulses of the acceleration section is N acc ，N acc ；
The total number of pulses of the deceleration section is N dec ，
The total number of uniform velocity segments is N v ，N v ＝N-N acc -N dec 。
Thus, the variation of the pulse number due to the disturbance is offset by the compensation, so that the motion positioning control is more accurate.
Claims (2)
1. A method for compensating the interference of high-speed pulse output of programmable logic controller includes such steps as providing high-speed pulse output instruction to motor by PLC, receiving the encoder of motor or the encoder connected to motor from PLC, accelerating or decelerating the motor in trapezoidal mode, and setting the acceleration time T of motor acc Accelerating to the set pulse output highest frequency to do uniform motion, and finally, at the set deceleration time T dec The speed is reduced to the base speed and stopped, and the base speed frequency of the motor is F bias The maximum frequency of pulse output is F max The compensation method is characterized by comprising the following steps:
step 1, setting a time slice T n When the motor is accelerated and decelerated, every T n Time, producing a step change in speed;
step 2, calculating to obtain the number N of segments of the motor acceleration section acc And number of stages N of deceleration section dec ，N acc ＝T acc /T n ，N dec ＝T dec /T n ；
Step 3, calculating to obtain the nth of the PLC in the acceleration section acc Number of pulses N sent to the motor in segments accn ，N accn ＝(F bias +N accinc *(n acc -1))*(T n /1000), in which n acc ＝1,2,…,N acc ；N accinc Representing the number of frequency increments, N, per segment of the acceleration segment accinc ＝(F max -F bias )/(T acc /T n )；
The nth of the PLC in the deceleration section is obtained through calculation dec Number of pulses N sent to the motor in segments decn ，N decn ＝(F bias +N decinc *(N dec -n dec ))*(T n /1000), in which n dec ＝1,2,…,N dec ；N decinc Representing the number of frequency increments per section of the deceleration section, N decinc ＝(F max -F bias )/(T dec /T n )；
Calculating to obtain each time slice T of the PLC at the uniform speed section n The number of pulses sent out is: f max *(T n /1000)；
Step 4, time slice T set according to step 1 n Every T by the high-speed counter pair of the PLC n Counting the rotation angle of the motor to obtain each time slice T n The fed-back pulse number is used for calculating the current time slice T n Number of interference pulses N nif ＝N nhsc –N n ，N nhsc For the current time slice T n The number of the fed back pulses is determined if the current time slice T n In the acceleration section, then N n＝ N accinc If the current time slice T n In the deceleration section, then N n＝ N decinc If the current time slice T n At the uniform velocity stage, then N n＝ F max *(T n /1000)；
Step 5, if N nif >0, then in the next time slice T n+1 Reducing the number of pulses sent by the PLC obtained by calculation in the step 3 by N nif A plurality of; if N is present nif <0, then in the next time slice T n+1 Increasing the number of pulses sent by the PLC obtained by the calculation in the step 3 by N nif And (4) respectively.
2. The method for compensating the high-speed pulse output interference of the programmable logic controller according to claim 1, wherein when the total pulse number output to the motor by the PLC is N, the following steps are performed:
the total number of pulses of the acceleration section is N acc ，
The total number of pulses of the deceleration section is N dec ，
The total number of uniform velocity segments is N v ，N v ＝N-N acc -N dec 。
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| CN114485733B (en) * | 2022-04-19 | 2022-06-21 | 宜科(天津)电子有限公司 | Anti-interference method, equipment and medium for photoelectric sensor |
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| CN201830194U (en) * | 2010-10-27 | 2011-05-11 | 北京和利康源医疗科技有限公司 | Drive control device of stepping motor |
| CN104753415A (en) * | 2013-12-31 | 2015-07-01 | 深圳迈瑞生物医疗电子股份有限公司 | Start and stop control method and system for stepping motor and stepping motor |
| CN106655930A (en) * | 2016-09-18 | 2017-05-10 | 北京星网卫通科技开发有限公司 | Stepping motor loss of synchronism loss correction method based on proximity sensor |
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| CN201830194U (en) * | 2010-10-27 | 2011-05-11 | 北京和利康源医疗科技有限公司 | Drive control device of stepping motor |
| CN104753415A (en) * | 2013-12-31 | 2015-07-01 | 深圳迈瑞生物医疗电子股份有限公司 | Start and stop control method and system for stepping motor and stepping motor |
| CN106655930A (en) * | 2016-09-18 | 2017-05-10 | 北京星网卫通科技开发有限公司 | Stepping motor loss of synchronism loss correction method based on proximity sensor |
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